WO2024045423A1 - Procédé et appareil de commande de retour à la station automatique pour unités sur piste - Google Patents

Procédé et appareil de commande de retour à la station automatique pour unités sur piste Download PDF

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Publication number
WO2024045423A1
WO2024045423A1 PCT/CN2022/139801 CN2022139801W WO2024045423A1 WO 2024045423 A1 WO2024045423 A1 WO 2024045423A1 CN 2022139801 W CN2022139801 W CN 2022139801W WO 2024045423 A1 WO2024045423 A1 WO 2024045423A1
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WO
WIPO (PCT)
Prior art keywords
inspection
unit
orbit
warehouse
return
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PCT/CN2022/139801
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English (en)
Chinese (zh)
Inventor
翁端文
褚如昶
吕新
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浙江衣拿智能科技股份有限公司
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Publication of WO2024045423A1 publication Critical patent/WO2024045423A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the present application relates to the technical field of automatic control of on-orbit units, and specifically, to an automatic return control method and device for on-orbit units.
  • inspection tracks are generally set up on the roof, and the inspection units running on the rails are used to monitor and supervise the hanging production lines.
  • the inspection unit When the inspection unit is operating on the production line, a fixed setting program can be installed to run automatically and obtain corresponding monitoring data.
  • the inspection unit stops running directly on the track without centralized recycling management. There is a lack of finishing work of the inspection unit, which is not conducive to the centralized management and control of the inspection car and the shutdown inspection.
  • embodiments of the present application provide a method and device for automatic return to the warehouse of an on-orbit unit.
  • the inspection unit automatically controls the inspection unit to complete the parking and shutdown inspection in the warehouse, rationalizes the management and control of the inspection unit, and forms a logical closed-loop control.
  • inventions of the present application provide an automatic return control method for an on-orbit unit.
  • the method includes:
  • the position information of the current on-orbit unit in the track line is obtained, and the target position is assigned to each on-orbit unit;
  • the inspection data After detecting that the warehousing parameters of the on-orbit unit successfully match the target warehouse, the inspection data will be sent to the server/control center. After the data transmission is completed, it will automatically shut down and wait for a restart response.
  • the position information of the current on-orbit unit in the track line is obtained, and the target warehouse is assigned to each on-orbit unit, specifically including:
  • the trigger information for automatic return to the warehouse is sent.
  • the conditions include: active stop operation instruction, fault stop operation instruction, and time-limited stop operation instruction;
  • each on-track unit is assigned an idle position based on the proximity principle, and is defined as a target position, and the status of the position is changed to a predetermined state.
  • each on-orbit unit can be selected in turn, sorted one by one based on the distance between the on-orbit units and the target positions, and the nearest target positions can be allocated.
  • the inspection route during the return process is formulated based on the track line, specifically including:
  • Mark the inspection node based on the track line, and formulate an inspection route for the inspection execution unit with the location of the inspection execution unit as the starting point and the corresponding target warehouse as the end point. Pass through all the inspection nodes;
  • a return route is formulated for all the on-rail units in the return group, and the on-rail units in the return group directly return to the warehouse;
  • a detour route is developed for the other on-rail units in the inspection group.
  • the starting point of the detour route is the position of the on-rail unit and the end point is the target warehouse; the inspection
  • the inspection nodes along which each of the orbiting routes of other on-orbit units in the group pass include all of the inspection nodes;
  • the on-orbit units belonging to the patrol group all obtain patrol data according to the patrol nodes they pass.
  • At least one inspection execution unit is selected in each area.
  • it also includes:
  • the current shutdown inspection log will be generated and saved;
  • the differentiated data of the corresponding node is sent to the staff for manual identification.
  • the deceleration mark corresponding to each of the target positions is associated with each of the on-orbit units.
  • a multi-level deceleration instruction is executed to gradually decelerate into the warehouse, specifically including: :
  • the on-orbit unit When the on-orbit unit runs to the deceleration mark, it is triggered to generate impending information. When the impending information is detected, the on-orbit unit executes a multi-level deceleration instruction, which specifically includes:
  • the number of triggers is the final trigger condition, specifically including:
  • the temporary position information is generated.
  • the inspection data is sent to the server/control center, and after the data transmission is completed, it automatically shuts down and waits for a restart response, which specifically includes:
  • the target warehouse is arranged at an angle, and a pressure sensor is provided on the rear wall of the target warehouse; a warehouse entry detection point is provided at the door of the target warehouse to detect whether the on-orbit unit enters the target warehouse;
  • the warehousing parameters include: the inclination of the on-rail unit when it is located in the target warehouse, and the parameter value of the pressure sensor;
  • the warehousing detection point detects that the on-rail unit is completely warehousing, the parameter value of the pressure sensor is obtained, and the actual inclination of the on-rail unit is obtained,
  • the parameter value is greater than the target pressure value, then determine whether the difference between the actual inclination and the basic parameter exceeds the inclination error range: if not, the on-orbit unit is completed; otherwise, If the on-orbit unit enters the warehouse incorrectly, an identification error report will be sent;
  • the on-orbit unit has not completed warehousing and a deceleration error report is sent;
  • the inspection data will be sent to the server/control center. After completing the data transmission, it will automatically shut down and wait for a restart response.
  • inventions of the present application provide an automatic return control device for an on-rail unit.
  • the device includes:
  • Position allocation module When the trigger information of automatic return to position is detected, the position information of the current on-orbit unit in the track line is obtained, and the target position is assigned to each on-orbit unit;
  • Inspection execution module based on the track line, formulate the inspection route during the return process and obtain inspection data;
  • Deceleration warehousing module associates the deceleration mark corresponding to each target position with each on-orbit unit. When it is detected that the on-orbit unit triggers the deceleration mark, executes multi-level deceleration instructions and gradually decelerates into warehousing;
  • Warehousing confirmation module After detecting that the warehousing parameters of the on-orbit unit successfully match the target warehouse, the inspection data is sent to the server/control center. After the data transmission is completed, the unit automatically shuts down and waits for a restart response.
  • embodiments of the present application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the computer program, the first Method steps provided by any possible implementation manner of the aspect or the first aspect.
  • embodiments of the present application provide a computer-readable storage medium on which a computer program is stored.
  • the computer program When the computer program is executed by a processor, the computer program implements the first aspect or any possible implementation of the first aspect. method provided.
  • the present invention is an automatic back-to-storage control method and device for an on-orbit unit, which automatically executes the return operation and performs effective start/stop control of the on-orbit unit without generating start/stop operations during operation control.
  • the back-to-warehouse inspection and return-to-warehouse parking can be automatically completed to eliminate the phenomenon of scattered stops, effectively improving the intelligence of the production line.
  • the present invention utilizes the return process of the patrol inspection unit running in orbit to synchronously complete the manual inspection operation at the end of the shutdown, saving manpower and making full use of the operation characteristics of the inspection unit.
  • Figure 1 is a schematic flow chart of an automatic return control method of an on-orbit unit provided by an embodiment of the present application
  • Figure 2 is a schematic structural diagram of an automatic return control device for an on-rail unit provided by an embodiment of the present application
  • FIG. 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • first and second are used for descriptive purposes only and shall not be understood as indicating or implying relative importance.
  • the following description provides multiple embodiments of the present application. Different embodiments can be replaced or combined. Therefore, the present application can also be considered to include all possible combinations of the same and/or different embodiments described. Thus, if one embodiment contains features A, B, C, and another embodiment contains features B, D, then the application should also be considered to include all other possible combinations containing one or more of A, B, C, D embodiment, although this embodiment may not be explicitly documented in the following content.
  • Figure 1 is a schematic flow chart of an automatic return control method for an on-orbit unit provided by an embodiment of the present application.
  • the method includes:
  • the execution subject of this application can be the monitoring/inspection unit in the hanging production line system, which can be implemented in conjunction with the comprehensive control terminal.
  • the comprehensive control terminal can be a server, control center, soft control platform and other terminals or terminal software.
  • the on-orbit unit can be an inspection unit in the daily production process, equipped with a camera, and has basic functions such as driving force and data transmission.
  • the deceleration sign can be an electronic chip, QR code, etc., with identifiable content.
  • the automatic return of the on-orbit unit can be triggered by an external command or by a machine failure alarm of the internal system; specifically, when one of the following conditions is met, the automatic return is sent Trigger information, the conditions include: active stop operation instructions, fault stop operation instructions, and time-limited stop operation instructions.
  • the active stop operation command can be operated and controlled by the staff and is an intervention type control command;
  • the time-limited stop operation command can be set based on daily working hours and will be executed when the time is reached;
  • the fault stop operation command depends on the internal conditions of the system. Depends on fault conditions, self-triggered.
  • step S101 specifically includes:
  • each on-track unit is assigned an idle position based on the proximity principle, and is defined as a target position, and the status of the position is changed to a predetermined state.
  • the operating status of the on-orbit unit in the track route can be obtained in real time.
  • the position information of the on-orbit unit can be calculated based on the stroke or power supply data; preferably, it can be calculated based on the generated stroke to reduce parameters. Operation.
  • the location of the bin is relatively fixed. After determining the location of the on-rail unit, the nearest free bin to the on-rail unit can be directly calculated.
  • the idle positions when the idle positions are allocated based on the proximity principle, the return journeys between the various on-rail units will interfere with each other, and the idle positions with the minimum distance can be determined first. After the allocation, their status will be changed to the predetermined status, without affecting The next on-orbit unit allocates free positions based on the nearest principle.
  • the target bins of each on-orbit unit can be selected in turn, sorted one by one based on the distance between the on-orbit units and the target bins, and the nearest target bin is allocated.
  • the method of obtaining inspection data and the data collection form can be determined according to the actual situation. It should be clear that when the shutdown operation occurs, the status of each node in the system should meet the corresponding shutdown requirements. Therefore, these nodes can be defined as inspection nodes. During the process of returning to the warehouse, the status of the inspection nodes should be checked. Data acquisition, as a third-party data source, can effectively verify the instruction execution results within the system.
  • the distance between each on-orbit unit and the warehouse is quite different.
  • the on-orbit unit that is closer to the free warehouse can be returned to the warehouse directly without any need to Subsequent inspection operations; on-orbit units far away from the idle warehouse can be used to perform inspection operations and complete automatic return to the warehouse.
  • step S102 specifically includes:
  • Mark the inspection node based on the track line, and formulate an inspection route for the inspection execution unit with the location of the inspection execution unit as the starting point and the corresponding target warehouse as the end point. Pass through all the inspection nodes;
  • a return route is formulated for all the on-rail units in the return group, and the on-rail units in the return group directly return to the warehouse;
  • a warehouse-circulating route is formulated for other on-rail units in the inspection group.
  • the starting point of the warehouse-circulating route is the position of the on-rail unit and the end point is the target warehouse.
  • the return threshold can be adjusted according to the length of the actual track line and the density of inspection nodes, so that the inspection unit that directly returns to the warehouse has as few conditions as possible to obtain the status information of the inspection nodes.
  • the inspection route of the inspection unit should pass through all inspection nodes, and its acquisition of status information of the inspection nodes is always behind the timeline.
  • the inspection nodes passed by each warehouse route of other on-orbit units in the inspection group include all inspection nodes, so that each inspection node has at least two status information acquisitions.
  • At least one inspection execution unit is selected in each area and the inspection route is formulated accordingly.
  • at least two reciprocating operations can be performed to obtain at least two status information.
  • each warehouse is equipped with a deceleration mark in the track line to trigger the deceleration of the on-rail unit so that it can enter the warehouse slowly to avoid phenomena such as failure of warehousing control and errors in warehousing due to excessive speed. produce.
  • Two deceleration signs for each warehouse can be designed based on the track line, which are located upstream and downstream adjacent to the warehouse door, and leave a long enough deceleration distance.
  • step S103 includes:
  • the on-orbit unit When the on-orbit unit runs to the deceleration mark, it is triggered to generate impending information. When the impending information is detected, the on-orbit unit executes a multi-level deceleration instruction, which specifically includes:
  • the on-track unit when the on-track unit reads the identification information in the deceleration mark, it can trigger the multi-level deceleration command and enter the slow-down state.
  • the warehousing track and the main track can be synchronously executed with track merging, Track changes, etc., to meet the prerequisites for warehousing.
  • the speed of the on-orbit unit immediately drops to the first entry speed, and enters the entry track at the first entry speed; when the entry detection point at the warehouse door detects When the unit is on the rail, it will decelerate for the second time, decelerate to the second entry speed, and run in the target warehouse at the second entry speed; when the entry detection point at the warehouse door detects that the on-rail unit has completely entered, Then decelerate for the third time until the displacement is limited when it contacts the rear bin wall and stops running.
  • the pressure sensor installed on the rear warehouse wall gradually increases the feedback parameter value during the contact process. At this time, the changing trend of the parameter value can trigger the on-orbit unit to decelerate to zero and stop running.
  • the number of triggers is the final trigger condition, which specifically includes:
  • the temporary position information is generated.
  • the execution inspection unit may pass the corresponding deceleration mark multiple times when running according to the inspection route. Therefore, in the process of route formulation, the effective number of triggers of the deceleration mark can be limited. The last trigger will be used to generate temporary position information.
  • each triggering of the deceleration mark meets the warehouse entry conditions based on the running direction and the warehouse direction. If it does not meet the warehouse entry conditions, it will be discarded; if it does, the number of times will be accumulated.
  • the target warehouse is arranged at an angle, and a pressure sensor is provided on the rear wall of the target warehouse; an entry detection point is provided at the door of the target warehouse to detect whether the on-orbit unit enters the target warehouse.
  • the entry parameters include: the inclination of the on-orbit unit when it is located in the target warehouse, and the parameter value of the pressure sensor.
  • the inclination of the target position can be detected as a basic parameter, and the basic parameter can be associated with the corresponding target position.
  • the on-orbit unit first triggers the deceleration mark, executes the multi-level deceleration command, then completes the entry confirmation with the entry detection point, and finally contacts the pressure sensor on the rear warehouse wall to generate feedback parameters reaching the bottom of the warehouse. Completed warehousing.
  • step S104 specifically includes:
  • the warehousing detection point detects that the on-rail unit is completely warehousing, the parameter value of the pressure sensor is obtained, and the actual inclination of the on-rail unit is obtained,
  • the parameter value is greater than the target pressure value, then determine whether the difference between the actual inclination and the basic parameter exceeds the inclination error range: if not, the on-orbit unit is completed; otherwise, If the on-orbit unit enters the warehouse incorrectly, an identification error report will be sent;
  • the on-orbit unit has not completed warehousing and a deceleration error report is sent;
  • the inspection data will be sent to the server/control center. After completing the data transmission, it will automatically shut down and wait for a restart response.
  • the inclination of the on-orbit unit does not match the basic parameters of the target bin, it means that the on-orbit unit has entered the wrong target bin, and there may be an error in the recognition of the deceleration mark, and a mark error report should be sent; if the on-orbit unit If the parameter value of the back-end pressure sensor triggered after the unit enters the warehouse does not reach the target pressure value, it means that the deceleration operation of the on-orbit unit is not in place. The result of the multi-level deceleration command is defective in the warehouse, and a deceleration error report should be sent. . Staff can review the reasons based on the attributes of the reports and make optimization improvements.
  • the warehousing After the warehousing is completed, it can self-check whether there is inspection data in the current on-orbit unit. After completing the transmission of the inspection data, it will automatically shut down and wait for the restart response.
  • the inspection data can be transmitted, and it is not limited to whether the warehousing is completed.
  • the server/control platform can also perform secondary verification, identification, analysis, etc. on the received inspection data.
  • the specific steps include:
  • the current shutdown inspection log is generated and saved;
  • the differentiated data of the corresponding node is sent to the staff for manual identification.
  • the patrol execution unit and other on-orbit units in the patrol group all obtain the status data of the patrol node during the process of executing the automatic return to the warehouse, because the status of the patrol node changes. , Therefore, based on the actual situation, there may be differences in the status data obtained by other on-orbit units and the unit performing inspections.
  • the status information obtained by the executing inspection unit is later than that of other on-orbit units.
  • the status information obtained by the executing inspection unit is different from that obtained by other on-orbit units. If the received status information is inconsistent, it means that the status information of the patrol node has changed during this period of time.
  • the status of the inspection nodes should all be in the shutdown state when automatic return to the warehouse is started, so that the status information obtained by the on-orbit units belonging to the inspection group should always be consistent. If there is a difference, explain If the status of a certain node has changed, you should be alert and can be manually confirmed by staff.
  • the automatic return control device of the on-orbit unit provided by the embodiment of the present application will be introduced in detail below with reference to FIG. 2 . It should be noted that the automatic return control device of the on-rail unit shown in Figure 2 is used to execute the method shown in the embodiment of Figure 1 of the present application. For convenience of explanation, only the parts related to the embodiment of the present application are shown. If the specific technical details are not disclosed, please refer to the embodiment shown in Figure 1 of this application.
  • Figure 2 is a schematic structural diagram of an automatic return control device for an on-rail unit provided by an embodiment of the present application. As shown in Figure 2, the device includes:
  • Bin allocation module 201 When the trigger information of automatic return to bin is detected, the position information of the current on-rail unit in the track line is obtained, and the target bin is assigned to each on-rail unit;
  • Inspection execution module 202 Develop an inspection route during the return process based on the track line and obtain inspection data;
  • the deceleration warehousing module 203 associates the deceleration mark corresponding to each target warehouse with each on-orbit unit. When it is detected that the on-orbit unit triggers the deceleration mark, a multi-level deceleration instruction is executed to gradually decelerate the warehousing;
  • Warehousing confirmation module 204 After detecting that the warehousing parameters of the on-orbit unit successfully match the target warehouse, the inspection data will be sent to the server/control center. After completing the data transmission, it will automatically shut down and wait for a restart response.
  • the “units” and “modules” in this specification refer to software and/or hardware that can independently complete or cooperate with other components to complete specific functions.
  • the hardware can be, for example, a field-programmable gate array (Field-Programmable Gate Array, FPGA), integrated circuit (Integrated Circuit, IC) etc.
  • Each processing unit and/or module in the embodiments of this application can be implemented by an analog circuit that implements the functions described in the embodiments of this application, or by software that performs the functions described in the embodiments of this application.
  • the electronic device 300 may include: at least one central processing unit 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .
  • the communication bus 302 is used to realize connection communication between these components.
  • the user interface 303 may include a display screen (Display) and a camera (Camera), and the optional user interface 303 may also include a standard wired interface and a wireless interface.
  • Display display screen
  • Camera Camera
  • the optional user interface 303 may also include a standard wired interface and a wireless interface.
  • the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).
  • the central processing unit 301 may include one or more processing cores.
  • the central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305, Execute various functions of the terminal 300 and process data.
  • the central processor 301 can use digital signal processing (Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), Programmable Logic Array (Programmable Logic Array (PLA) in at least one form of hardware.
  • DSP Digital Signal Processing
  • FPGA Field-Programmable Gate Array
  • PDA Programmable Logic Array
  • the central processing unit 301 can integrate a central processing unit (CPU), a graphics central processing unit (Graphics Processing Unit (GPU) and modem, etc. One or a combination of several.
  • the CPU mainly handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content that needs to be displayed on the display; and the modem is used to handle wireless communications. It can be understood that the above-mentioned modem may not be integrated into the central processor 301 and may be implemented by a separate chip.
  • the memory 305 may include random access memory (Random Access Memory (RAM), which can also include read-only memory (Read-Only Memory).
  • the memory 305 includes non-transitory computer-readable media (non-transitory computer-readable storage medium).
  • Memory 305 may be used to store instructions, programs, codes, sets of codes, or sets of instructions.
  • the memory 305 may include a program storage area and a data storage area, where the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), Instructions, etc., used to implement each of the above method embodiments; the storage data area can store data, etc. involved in each of the above method embodiments.
  • the memory 305 may optionally be at least one storage device located away from the aforementioned central processor 301 .
  • memory 305 which is a computer storage medium, may include an operating system, a network communication module, a user interface module and program instructions.
  • the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the central processor 301 can be used to call the automatic return of the on-orbit unit stored in the memory 305.
  • Warehouse control application and specifically perform the following operations:
  • the position information of the current on-orbit unit in the track line is obtained, and the target position is assigned to each on-orbit unit;
  • the inspection data After detecting that the warehousing parameters of the on-orbit unit successfully match the target warehouse, the inspection data will be sent to the server/control center. After the data transmission is completed, it will automatically shut down and wait for a restart response.
  • This application also provides a computer-readable storage medium on which a computer program is stored, which implements the steps of the above method when executed by a processor.
  • the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory devices , magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
  • the disclosed device can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or may be Integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some service interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable memory.
  • the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, It includes several instructions to cause a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned memory includes: U disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), mobile hard disk, magnetic disk or optical disk and other media that can store program code.
  • the program can be stored in a computer-readable memory.
  • the memory can include: flash memory. disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory (RAM), magnetic disk or optical disk, etc.

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Abstract

La présente invention divulgue un procédé et un appareil de commande de retour à la station automatique pour des unités sur piste. Le procédé comprend les étapes suivantes : lorsque des informations de déclenchement pour un retour à la station automatique sont détectées, acquérir des informations d'emplacement des unités sur piste actuelles dans une ligne de piste et attribuer une station cible à chaque unité sur piste ; sur la base de la ligne de piste, formuler un itinéraire d'inspection utilisé pendant le processus de retour à la station et acquérir des données d'inspection ; associer, à chaque unité sur piste, un identifiant de décélération correspondant à chaque station cible et lorsqu'il est détecté que l'unité sur piste déclenche l'identifiant de décélération, exécuter une instruction de décélération en plusieurs phases et effectuer progressivement une décélération pour entrer dans la station ; et après qu'il a été détecté qu'un paramètre d'entrée de station de l'unité sur piste correspond avec succès à la station cible, envoyer les données d'inspection à un serveur/centre de commande, effectuer un arrêt automatique après que la transmission de données est achevée et attendre une réponse de redémarrage. La présente invention réalise une commande automatique sur une unité d'inspection pour l'arrêt dans une station et l'arrêt du travail d'inspection et une gestion et une commande rationnelles sur l'unité d'inspection, formant ainsi une commande logique en boucle fermée.
PCT/CN2022/139801 2022-09-01 2022-12-17 Procédé et appareil de commande de retour à la station automatique pour unités sur piste WO2024045423A1 (fr)

Applications Claiming Priority (2)

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CN202211064307.9 2022-09-01
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